That year should bring the long-awaited OpenGL ES 3.0 compatible renderer with state-of-the-art rendering techniques tuned to work as low as middle end handheld devices - without compromising with the possibilities given for higher end desktop games of course. Great times ahead for the Godot community and the gamers that will play our games!
918 lines
23 KiB
C++
918 lines
23 KiB
C++
/*************************************************************************/
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/* gjk_epa.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "gjk_epa.h"
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/*************** Bullet's GJK-EPA2 IMPLEMENTATION *******************/
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// Config
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/* GJK */
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#define GJK_MAX_ITERATIONS 128
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#define GJK_ACCURARY ((real_t)0.0001)
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#define GJK_MIN_DISTANCE ((real_t)0.0001)
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#define GJK_DUPLICATED_EPS ((real_t)0.0001)
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#define GJK_SIMPLEX2_EPS ((real_t)0.0)
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#define GJK_SIMPLEX3_EPS ((real_t)0.0)
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#define GJK_SIMPLEX4_EPS ((real_t)0.0)
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/* EPA */
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#define EPA_MAX_VERTICES 64
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#define EPA_MAX_FACES (EPA_MAX_VERTICES*2)
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#define EPA_MAX_ITERATIONS 255
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#define EPA_ACCURACY ((real_t)0.0001)
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#define EPA_FALLBACK (10*EPA_ACCURACY)
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#define EPA_PLANE_EPS ((real_t)0.00001)
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#define EPA_INSIDE_EPS ((real_t)0.01)
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namespace GjkEpa2 {
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struct sResults {
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enum eStatus {
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Separated, /* Shapes doesnt penetrate */
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Penetrating, /* Shapes are penetrating */
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GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
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EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
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} status;
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Vector3 witnesses[2];
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Vector3 normal;
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real_t distance;
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};
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// Shorthands
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typedef unsigned int U;
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typedef unsigned char U1;
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// MinkowskiDiff
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struct MinkowskiDiff {
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const ShapeSW* m_shapes[2];
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Transform transform_A;
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Transform transform_B;
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// i wonder how this could be sped up... if it can
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_FORCE_INLINE_ Vector3 Support0 ( const Vector3& d ) const {
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return transform_A.xform( m_shapes[0]->get_support( transform_A.basis.xform_inv(d).normalized() ) );
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}
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_FORCE_INLINE_ Vector3 Support1 ( const Vector3& d ) const {
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return transform_B.xform( m_shapes[1]->get_support( transform_B.basis.xform_inv(d).normalized() ) );
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}
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_FORCE_INLINE_ Vector3 Support ( const Vector3& d ) const {
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return ( Support0 ( d )-Support1 ( -d ) );
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}
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_FORCE_INLINE_ Vector3 Support ( const Vector3& d,U index ) const
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{
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if ( index )
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return ( Support1 ( d ) );
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else
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return ( Support0 ( d ) );
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}
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};
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typedef MinkowskiDiff tShape;
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// GJK
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struct GJK
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{
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/* Types */
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struct sSV
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{
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Vector3 d,w;
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};
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struct sSimplex
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{
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sSV* c[4];
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real_t p[4];
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U rank;
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};
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struct eStatus { enum _ {
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Valid,
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Inside,
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Failed };};
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/* Fields */
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tShape m_shape;
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Vector3 m_ray;
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real_t m_distance;
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sSimplex m_simplices[2];
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sSV m_store[4];
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sSV* m_free[4];
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U m_nfree;
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U m_current;
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sSimplex* m_simplex;
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eStatus::_ m_status;
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/* Methods */
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GJK()
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{
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Initialize();
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}
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void Initialize()
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{
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m_ray = Vector3(0,0,0);
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m_nfree = 0;
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m_status = eStatus::Failed;
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m_current = 0;
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m_distance = 0;
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}
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eStatus::_ Evaluate(const tShape& shapearg,const Vector3& guess)
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{
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U iterations=0;
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real_t sqdist=0;
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real_t alpha=0;
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Vector3 lastw[4];
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U clastw=0;
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/* Initialize solver */
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m_free[0] = &m_store[0];
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m_free[1] = &m_store[1];
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m_free[2] = &m_store[2];
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m_free[3] = &m_store[3];
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m_nfree = 4;
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m_current = 0;
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m_status = eStatus::Valid;
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m_shape = shapearg;
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m_distance = 0;
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/* Initialize simplex */
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m_simplices[0].rank = 0;
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m_ray = guess;
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const real_t sqrl= m_ray.length_squared();
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appendvertice(m_simplices[0],sqrl>0?-m_ray:Vector3(1,0,0));
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m_simplices[0].p[0] = 1;
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m_ray = m_simplices[0].c[0]->w;
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sqdist = sqrl;
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lastw[0] =
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lastw[1] =
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lastw[2] =
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lastw[3] = m_ray;
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/* Loop */
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do {
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const U next=1-m_current;
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sSimplex& cs=m_simplices[m_current];
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sSimplex& ns=m_simplices[next];
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/* Check zero */
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const real_t rl=m_ray.length();
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if(rl<GJK_MIN_DISTANCE)
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{/* Touching or inside */
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m_status=eStatus::Inside;
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break;
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}
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/* Append new vertice in -'v' direction */
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appendvertice(cs,-m_ray);
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const Vector3& w=cs.c[cs.rank-1]->w;
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bool found=false;
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for(U i=0;i<4;++i)
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{
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if((w-lastw[i]).length_squared()<GJK_DUPLICATED_EPS)
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{ found=true;break; }
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}
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if(found)
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{/* Return old simplex */
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removevertice(m_simplices[m_current]);
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break;
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}
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else
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{/* Update lastw */
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lastw[clastw=(clastw+1)&3]=w;
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}
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/* Check for termination */
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const real_t omega=vec3_dot(m_ray,w)/rl;
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alpha=MAX(omega,alpha);
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if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
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{/* Return old simplex */
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removevertice(m_simplices[m_current]);
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break;
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}
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/* Reduce simplex */
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real_t weights[4];
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U mask=0;
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switch(cs.rank)
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{
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case 2: sqdist=projectorigin( cs.c[0]->w,
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cs.c[1]->w,
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weights,mask);break;
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case 3: sqdist=projectorigin( cs.c[0]->w,
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cs.c[1]->w,
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cs.c[2]->w,
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weights,mask);break;
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case 4: sqdist=projectorigin( cs.c[0]->w,
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cs.c[1]->w,
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cs.c[2]->w,
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cs.c[3]->w,
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weights,mask);break;
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}
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if(sqdist>=0)
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{/* Valid */
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ns.rank = 0;
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m_ray = Vector3(0,0,0);
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m_current = next;
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for(U i=0,ni=cs.rank;i<ni;++i)
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{
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if(mask&(1<<i))
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{
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ns.c[ns.rank] = cs.c[i];
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ns.p[ns.rank++] = weights[i];
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m_ray += cs.c[i]->w*weights[i];
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}
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else
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{
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m_free[m_nfree++] = cs.c[i];
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}
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}
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if(mask==15) m_status=eStatus::Inside;
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}
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else
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{/* Return old simplex */
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removevertice(m_simplices[m_current]);
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break;
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}
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m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed;
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} while(m_status==eStatus::Valid);
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m_simplex=&m_simplices[m_current];
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switch(m_status)
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{
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case eStatus::Valid: m_distance=m_ray.length();break;
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case eStatus::Inside: m_distance=0;break;
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default: {}
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}
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return(m_status);
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}
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bool EncloseOrigin()
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{
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switch(m_simplex->rank)
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{
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case 1:
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{
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for(U i=0;i<3;++i)
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{
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Vector3 axis=Vector3(0,0,0);
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axis[i]=1;
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appendvertice(*m_simplex, axis);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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appendvertice(*m_simplex,-axis);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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}
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}
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break;
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case 2:
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{
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const Vector3 d=m_simplex->c[1]->w-m_simplex->c[0]->w;
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for(U i=0;i<3;++i)
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{
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Vector3 axis=Vector3(0,0,0);
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axis[i]=1;
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const Vector3 p=vec3_cross(d,axis);
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if(p.length_squared()>0)
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{
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appendvertice(*m_simplex, p);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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appendvertice(*m_simplex,-p);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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}
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}
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}
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break;
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case 3:
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{
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const Vector3 n=vec3_cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
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m_simplex->c[2]->w-m_simplex->c[0]->w);
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if(n.length_squared()>0)
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{
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appendvertice(*m_simplex,n);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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appendvertice(*m_simplex,-n);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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}
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}
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break;
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case 4:
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{
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if(Math::abs(det( m_simplex->c[0]->w-m_simplex->c[3]->w,
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m_simplex->c[1]->w-m_simplex->c[3]->w,
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m_simplex->c[2]->w-m_simplex->c[3]->w))>0)
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return(true);
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}
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break;
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}
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return(false);
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}
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/* Internals */
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void getsupport(const Vector3& d,sSV& sv) const
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{
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sv.d = d/d.length();
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sv.w = m_shape.Support(sv.d);
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}
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void removevertice(sSimplex& simplex)
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{
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m_free[m_nfree++]=simplex.c[--simplex.rank];
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}
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void appendvertice(sSimplex& simplex,const Vector3& v)
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{
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simplex.p[simplex.rank]=0;
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simplex.c[simplex.rank]=m_free[--m_nfree];
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getsupport(v,*simplex.c[simplex.rank++]);
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}
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static real_t det(const Vector3& a,const Vector3& b,const Vector3& c)
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{
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return( a.y*b.z*c.x+a.z*b.x*c.y-
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a.x*b.z*c.y-a.y*b.x*c.z+
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a.x*b.y*c.z-a.z*b.y*c.x);
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}
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static real_t projectorigin( const Vector3& a,
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const Vector3& b,
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real_t* w,U& m)
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{
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const Vector3 d=b-a;
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const real_t l=d.length_squared();
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if(l>GJK_SIMPLEX2_EPS)
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{
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const real_t t(l>0?-vec3_dot(a,d)/l:0);
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if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length_squared()); }
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else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length_squared()); }
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else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length_squared()); }
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}
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return(-1);
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}
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static real_t projectorigin( const Vector3& a,
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const Vector3& b,
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const Vector3& c,
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real_t* w,U& m)
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{
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static const U imd3[]={1,2,0};
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const Vector3* vt[]={&a,&b,&c};
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const Vector3 dl[]={a-b,b-c,c-a};
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const Vector3 n=vec3_cross(dl[0],dl[1]);
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const real_t l=n.length_squared();
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if(l>GJK_SIMPLEX3_EPS)
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{
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real_t mindist=-1;
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real_t subw[2];
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U subm;
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for(U i=0;i<3;++i)
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{
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if(vec3_dot(*vt[i],vec3_cross(dl[i],n))>0)
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{
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const U j=imd3[i];
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const real_t subd(projectorigin(*vt[i],*vt[j],subw,subm));
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if((mindist<0)||(subd<mindist))
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{
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mindist = subd;
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m = static_cast<U>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0));
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w[i] = subw[0];
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w[j] = subw[1];
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w[imd3[j]] = 0;
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}
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}
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}
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if(mindist<0)
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{
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const real_t d=vec3_dot(a,n);
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const real_t s=Math::sqrt(l);
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const Vector3 p=n*(d/l);
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mindist = p.length_squared();
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m = 7;
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w[0] = (vec3_cross(dl[1],b-p)).length()/s;
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w[1] = (vec3_cross(dl[2],c-p)).length()/s;
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w[2] = 1-(w[0]+w[1]);
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}
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return(mindist);
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}
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return(-1);
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}
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static real_t projectorigin( const Vector3& a,
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const Vector3& b,
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const Vector3& c,
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const Vector3& d,
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real_t* w,U& m)
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{
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static const U imd3[]={1,2,0};
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const Vector3* vt[]={&a,&b,&c,&d};
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const Vector3 dl[]={a-d,b-d,c-d};
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const real_t vl=det(dl[0],dl[1],dl[2]);
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const bool ng=(vl*vec3_dot(a,vec3_cross(b-c,a-b)))<=0;
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if(ng&&(Math::abs(vl)>GJK_SIMPLEX4_EPS))
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{
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real_t mindist=-1;
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real_t subw[3];
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U subm;
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for(U i=0;i<3;++i)
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{
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const U j=imd3[i];
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const real_t s=vl*vec3_dot(d,vec3_cross(dl[i],dl[j]));
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if(s>0)
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{
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const real_t subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
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if((mindist<0)||(subd<mindist))
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{
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mindist = subd;
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m = static_cast<U>((subm&1?1<<i:0)+
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(subm&2?1<<j:0)+
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(subm&4?8:0));
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w[i] = subw[0];
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w[j] = subw[1];
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w[imd3[j]] = 0;
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w[3] = subw[2];
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}
|
|
}
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|
}
|
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if(mindist<0)
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{
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mindist = 0;
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m = 15;
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w[0] = det(c,b,d)/vl;
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w[1] = det(a,c,d)/vl;
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w[2] = det(b,a,d)/vl;
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w[3] = 1-(w[0]+w[1]+w[2]);
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}
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return(mindist);
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}
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return(-1);
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}
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};
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|
|
// EPA
|
|
struct EPA
|
|
{
|
|
/* Types */
|
|
typedef GJK::sSV sSV;
|
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struct sFace
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|
{
|
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Vector3 n;
|
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real_t d;
|
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real_t p;
|
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sSV* c[3];
|
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sFace* f[3];
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sFace* l[2];
|
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U1 e[3];
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U1 pass;
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};
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struct sList
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{
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sFace* root;
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U count;
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sList() : root(0),count(0) {}
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};
|
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struct sHorizon
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{
|
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sFace* cf;
|
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sFace* ff;
|
|
U nf;
|
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sHorizon() : cf(0),ff(0),nf(0) {}
|
|
};
|
|
struct eStatus { enum _ {
|
|
Valid,
|
|
Touching,
|
|
Degenerated,
|
|
NonConvex,
|
|
InvalidHull,
|
|
OutOfFaces,
|
|
OutOfVertices,
|
|
AccuraryReached,
|
|
FallBack,
|
|
Failed };};
|
|
/* Fields */
|
|
eStatus::_ m_status;
|
|
GJK::sSimplex m_result;
|
|
Vector3 m_normal;
|
|
real_t m_depth;
|
|
sSV m_sv_store[EPA_MAX_VERTICES];
|
|
sFace m_fc_store[EPA_MAX_FACES];
|
|
U m_nextsv;
|
|
sList m_hull;
|
|
sList m_stock;
|
|
/* Methods */
|
|
EPA()
|
|
{
|
|
Initialize();
|
|
}
|
|
|
|
|
|
static inline void bind(sFace* fa,U ea,sFace* fb,U eb)
|
|
{
|
|
fa->e[ea]=(U1)eb;fa->f[ea]=fb;
|
|
fb->e[eb]=(U1)ea;fb->f[eb]=fa;
|
|
}
|
|
static inline void append(sList& list,sFace* face)
|
|
{
|
|
face->l[0] = 0;
|
|
face->l[1] = list.root;
|
|
if(list.root) list.root->l[0]=face;
|
|
list.root = face;
|
|
++list.count;
|
|
}
|
|
static inline void remove(sList& list,sFace* face)
|
|
{
|
|
if(face->l[1]) face->l[1]->l[0]=face->l[0];
|
|
if(face->l[0]) face->l[0]->l[1]=face->l[1];
|
|
if(face==list.root) list.root=face->l[1];
|
|
--list.count;
|
|
}
|
|
|
|
|
|
void Initialize()
|
|
{
|
|
m_status = eStatus::Failed;
|
|
m_normal = Vector3(0,0,0);
|
|
m_depth = 0;
|
|
m_nextsv = 0;
|
|
for(U i=0;i<EPA_MAX_FACES;++i)
|
|
{
|
|
append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
|
|
}
|
|
}
|
|
eStatus::_ Evaluate(GJK& gjk,const Vector3& guess)
|
|
{
|
|
GJK::sSimplex& simplex=*gjk.m_simplex;
|
|
if((simplex.rank>1)&&gjk.EncloseOrigin())
|
|
{
|
|
|
|
/* Clean up */
|
|
while(m_hull.root)
|
|
{
|
|
sFace* f = m_hull.root;
|
|
remove(m_hull,f);
|
|
append(m_stock,f);
|
|
}
|
|
m_status = eStatus::Valid;
|
|
m_nextsv = 0;
|
|
/* Orient simplex */
|
|
if(gjk.det( simplex.c[0]->w-simplex.c[3]->w,
|
|
simplex.c[1]->w-simplex.c[3]->w,
|
|
simplex.c[2]->w-simplex.c[3]->w)<0)
|
|
{
|
|
SWAP(simplex.c[0],simplex.c[1]);
|
|
SWAP(simplex.p[0],simplex.p[1]);
|
|
}
|
|
/* Build initial hull */
|
|
sFace* tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true),
|
|
newface(simplex.c[1],simplex.c[0],simplex.c[3],true),
|
|
newface(simplex.c[2],simplex.c[1],simplex.c[3],true),
|
|
newface(simplex.c[0],simplex.c[2],simplex.c[3],true)};
|
|
if(m_hull.count==4)
|
|
{
|
|
sFace* best=findbest();
|
|
sFace outer=*best;
|
|
U pass=0;
|
|
U iterations=0;
|
|
bind(tetra[0],0,tetra[1],0);
|
|
bind(tetra[0],1,tetra[2],0);
|
|
bind(tetra[0],2,tetra[3],0);
|
|
bind(tetra[1],1,tetra[3],2);
|
|
bind(tetra[1],2,tetra[2],1);
|
|
bind(tetra[2],2,tetra[3],1);
|
|
m_status=eStatus::Valid;
|
|
for(;iterations<EPA_MAX_ITERATIONS;++iterations)
|
|
{
|
|
if(m_nextsv<EPA_MAX_VERTICES)
|
|
{
|
|
sHorizon horizon;
|
|
sSV* w=&m_sv_store[m_nextsv++];
|
|
bool valid=true;
|
|
best->pass = (U1)(++pass);
|
|
gjk.getsupport(best->n,*w);
|
|
const real_t wdist=vec3_dot(best->n,w->w)-best->d;
|
|
if(wdist>EPA_ACCURACY)
|
|
{
|
|
for(U j=0;(j<3)&&valid;++j)
|
|
{
|
|
valid&=expand( pass,w,
|
|
best->f[j],best->e[j],
|
|
horizon);
|
|
}
|
|
if(valid&&(horizon.nf>=3))
|
|
{
|
|
bind(horizon.cf,1,horizon.ff,2);
|
|
remove(m_hull,best);
|
|
append(m_stock,best);
|
|
best=findbest();
|
|
if(best->p>=outer.p) outer=*best;
|
|
} else { m_status=eStatus::InvalidHull;break; }
|
|
} else { m_status=eStatus::AccuraryReached;break; }
|
|
} else { m_status=eStatus::OutOfVertices;break; }
|
|
}
|
|
const Vector3 projection=outer.n*outer.d;
|
|
m_normal = outer.n;
|
|
m_depth = outer.d;
|
|
m_result.rank = 3;
|
|
m_result.c[0] = outer.c[0];
|
|
m_result.c[1] = outer.c[1];
|
|
m_result.c[2] = outer.c[2];
|
|
m_result.p[0] = vec3_cross( outer.c[1]->w-projection,
|
|
outer.c[2]->w-projection).length();
|
|
m_result.p[1] = vec3_cross( outer.c[2]->w-projection,
|
|
outer.c[0]->w-projection).length();
|
|
m_result.p[2] = vec3_cross( outer.c[0]->w-projection,
|
|
outer.c[1]->w-projection).length();
|
|
const real_t sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
|
|
m_result.p[0] /= sum;
|
|
m_result.p[1] /= sum;
|
|
m_result.p[2] /= sum;
|
|
return(m_status);
|
|
}
|
|
}
|
|
/* Fallback */
|
|
m_status = eStatus::FallBack;
|
|
m_normal = -guess;
|
|
const real_t nl=m_normal.length();
|
|
if(nl>0)
|
|
m_normal = m_normal/nl;
|
|
else
|
|
m_normal = Vector3(1,0,0);
|
|
m_depth = 0;
|
|
m_result.rank=1;
|
|
m_result.c[0]=simplex.c[0];
|
|
m_result.p[0]=1;
|
|
return(m_status);
|
|
}
|
|
sFace* newface(sSV* a,sSV* b,sSV* c,bool forced)
|
|
{
|
|
if(m_stock.root)
|
|
{
|
|
sFace* face=m_stock.root;
|
|
remove(m_stock,face);
|
|
append(m_hull,face);
|
|
face->pass = 0;
|
|
face->c[0] = a;
|
|
face->c[1] = b;
|
|
face->c[2] = c;
|
|
face->n = vec3_cross(b->w-a->w,c->w-a->w);
|
|
const real_t l=face->n.length();
|
|
const bool v=l>EPA_ACCURACY;
|
|
face->p = MIN(MIN(
|
|
vec3_dot(a->w,vec3_cross(face->n,a->w-b->w)),
|
|
vec3_dot(b->w,vec3_cross(face->n,b->w-c->w))),
|
|
vec3_dot(c->w,vec3_cross(face->n,c->w-a->w))) /
|
|
(v?l:1);
|
|
face->p = face->p>=-EPA_INSIDE_EPS?0:face->p;
|
|
if(v)
|
|
{
|
|
face->d = vec3_dot(a->w,face->n)/l;
|
|
face->n /= l;
|
|
if(forced||(face->d>=-EPA_PLANE_EPS))
|
|
{
|
|
return(face);
|
|
} else m_status=eStatus::NonConvex;
|
|
} else m_status=eStatus::Degenerated;
|
|
remove(m_hull,face);
|
|
append(m_stock,face);
|
|
return(0);
|
|
}
|
|
m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces;
|
|
return(0);
|
|
}
|
|
sFace* findbest()
|
|
{
|
|
sFace* minf=m_hull.root;
|
|
real_t mind=minf->d*minf->d;
|
|
real_t maxp=minf->p;
|
|
for(sFace* f=minf->l[1];f;f=f->l[1])
|
|
{
|
|
const real_t sqd=f->d*f->d;
|
|
if((f->p>=maxp)&&(sqd<mind))
|
|
{
|
|
minf=f;
|
|
mind=sqd;
|
|
maxp=f->p;
|
|
}
|
|
}
|
|
return(minf);
|
|
}
|
|
bool expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon)
|
|
{
|
|
static const U i1m3[]={1,2,0};
|
|
static const U i2m3[]={2,0,1};
|
|
if(f->pass!=pass)
|
|
{
|
|
const U e1=i1m3[e];
|
|
if((vec3_dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
|
|
{
|
|
sFace* nf=newface(f->c[e1],f->c[e],w,false);
|
|
if(nf)
|
|
{
|
|
bind(nf,0,f,e);
|
|
if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf;
|
|
horizon.cf=nf;
|
|
++horizon.nf;
|
|
return(true);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
const U e2=i2m3[e];
|
|
f->pass = (U1)pass;
|
|
if( expand(pass,w,f->f[e1],f->e[e1],horizon)&&
|
|
expand(pass,w,f->f[e2],f->e[e2],horizon))
|
|
{
|
|
remove(m_hull,f);
|
|
append(m_stock,f);
|
|
return(true);
|
|
}
|
|
}
|
|
}
|
|
return(false);
|
|
}
|
|
|
|
};
|
|
|
|
//
|
|
static void Initialize( const ShapeSW* shape0,const Transform& wtrs0,
|
|
const ShapeSW* shape1,const Transform& wtrs1,
|
|
sResults& results,
|
|
tShape& shape,
|
|
bool withmargins)
|
|
{
|
|
/* Results */
|
|
results.witnesses[0] =
|
|
results.witnesses[1] = Vector3(0,0,0);
|
|
results.status = sResults::Separated;
|
|
/* Shape */
|
|
shape.m_shapes[0] = shape0;
|
|
shape.m_shapes[1] = shape1;
|
|
shape.transform_A = wtrs0;
|
|
shape.transform_B = wtrs1;
|
|
|
|
}
|
|
|
|
|
|
|
|
//
|
|
// Api
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
bool Distance( const ShapeSW* shape0,
|
|
const Transform& wtrs0,
|
|
const ShapeSW* shape1,
|
|
const Transform& wtrs1,
|
|
const Vector3& guess,
|
|
sResults& results)
|
|
{
|
|
tShape shape;
|
|
Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
|
|
GJK gjk;
|
|
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
|
|
if(gjk_status==GJK::eStatus::Valid)
|
|
{
|
|
Vector3 w0=Vector3(0,0,0);
|
|
Vector3 w1=Vector3(0,0,0);
|
|
for(U i=0;i<gjk.m_simplex->rank;++i)
|
|
{
|
|
const real_t p=gjk.m_simplex->p[i];
|
|
w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
|
|
w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
|
|
}
|
|
results.witnesses[0] = w0;
|
|
results.witnesses[1] = w1;
|
|
results.normal = w0-w1;
|
|
results.distance = results.normal.length();
|
|
results.normal /= results.distance>GJK_MIN_DISTANCE?results.distance:1;
|
|
return(true);
|
|
}
|
|
else
|
|
{
|
|
results.status = gjk_status==GJK::eStatus::Inside?
|
|
sResults::Penetrating :
|
|
sResults::GJK_Failed ;
|
|
return(false);
|
|
}
|
|
}
|
|
|
|
//
|
|
bool Penetration( const ShapeSW* shape0,
|
|
const Transform& wtrs0,
|
|
const ShapeSW* shape1,
|
|
const Transform& wtrs1,
|
|
const Vector3& guess,
|
|
sResults& results
|
|
)
|
|
{
|
|
tShape shape;
|
|
Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
|
|
GJK gjk;
|
|
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess);
|
|
switch(gjk_status)
|
|
{
|
|
case GJK::eStatus::Inside:
|
|
{
|
|
EPA epa;
|
|
EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
|
|
if(epa_status!=EPA::eStatus::Failed)
|
|
{
|
|
Vector3 w0=Vector3(0,0,0);
|
|
for(U i=0;i<epa.m_result.rank;++i)
|
|
{
|
|
w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
|
|
}
|
|
results.status = sResults::Penetrating;
|
|
results.witnesses[0] = w0;
|
|
results.witnesses[1] = w0-epa.m_normal*epa.m_depth;
|
|
results.normal = -epa.m_normal;
|
|
results.distance = -epa.m_depth;
|
|
return(true);
|
|
} else results.status=sResults::EPA_Failed;
|
|
}
|
|
break;
|
|
case GJK::eStatus::Failed:
|
|
results.status=sResults::GJK_Failed;
|
|
break;
|
|
default: {}
|
|
}
|
|
return(false);
|
|
}
|
|
|
|
|
|
/* Symbols cleanup */
|
|
|
|
#undef GJK_MAX_ITERATIONS
|
|
#undef GJK_ACCURARY
|
|
#undef GJK_MIN_DISTANCE
|
|
#undef GJK_DUPLICATED_EPS
|
|
#undef GJK_SIMPLEX2_EPS
|
|
#undef GJK_SIMPLEX3_EPS
|
|
#undef GJK_SIMPLEX4_EPS
|
|
|
|
#undef EPA_MAX_VERTICES
|
|
#undef EPA_MAX_FACES
|
|
#undef EPA_MAX_ITERATIONS
|
|
#undef EPA_ACCURACY
|
|
#undef EPA_FALLBACK
|
|
#undef EPA_PLANE_EPS
|
|
#undef EPA_INSIDE_EPS
|
|
|
|
|
|
} // end of namespace
|
|
|
|
|
|
|
|
|
|
|
|
bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, Vector3& r_result_A, Vector3& r_result_B) {
|
|
|
|
|
|
GjkEpa2::sResults res;
|
|
|
|
if (GjkEpa2::Distance(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_transform_B.origin-p_transform_A.origin,res)) {
|
|
|
|
r_result_A=res.witnesses[0];
|
|
r_result_B=res.witnesses[1];
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap ) {
|
|
|
|
GjkEpa2::sResults res;
|
|
|
|
if (GjkEpa2::Penetration(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_transform_B.origin-p_transform_A.origin,res)) {
|
|
if (p_result_callback) {
|
|
if (p_swap)
|
|
p_result_callback(res.witnesses[1],res.witnesses[0],p_userdata);
|
|
else
|
|
p_result_callback(res.witnesses[0],res.witnesses[1],p_userdata);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|